CN115817260A

CN115817260A - Battery replacing method and device, controller and battery replacing station

Info

Publication number: CN115817260A
Application number: CN202210333548.2A
Authority: CN
Inventors: 请求不公布姓名; 康晓鹤
Original assignee: Contemporary Amperex Energy Service Technology Ltd
Current assignee: Contemporary Amperex Energy Service Technology Ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2023-03-21

Abstract

The application provides a battery replacement method, a battery replacement device, a controller and a battery replacement station, wherein the method comprises the following steps: determining first rotation data of the turntable according to the storage position of the target battery in the battery compartment; after a first conveying tool loaded with the target battery runs onto the rotary table, controlling the rotary table to rotate towards a first rotation direction; the first conveying tool is controlled to move according to the determined direction after the rotary disc rotates so as to mount the target battery on the target vehicle, and the accuracy of battery mounting can be improved.

Description

Battery replacing method and device, controller and battery replacing station

Technical Field

The application relates to the technical field of mechanical control, in particular to a battery replacement method, a battery replacement device, a controller and a battery replacement station.

Background

The battery replacement station is a place for providing a service of battery replacement for the electric vehicle. In the battery replacement process, the battery needs to be moved out of the battery compartment of the battery replacement station to a position where the electric vehicle stops.

In order to accurately mount the battery on the electric vehicle, the battery in the battery compartment is generally required to be placed according to a preset standard, and the vehicle in the battery replacement station is required to be parked according to the preset standard, so that the battery taken out of the battery compartment can be accurately mounted on the electric vehicle.

Disclosure of Invention

In view of this, an object of the embodiments of the present application is to provide a battery replacing method, a battery replacing device, a controller, and a battery replacing station, so as to solve a problem of misalignment of a battery that may exist in a battery replacing process.

In a first aspect, an embodiment of the present application provides a battery replacement method, including: determining first rotation data of the turntable according to the storage position of the target battery in the battery compartment; after a first conveying tool loaded with the target battery runs onto the turntable, controlling the turntable to rotate according to the first rotation data; and controlling the first conveying tool to move according to the determined direction after the rotary disc rotates so as to mount the target battery on the target vehicle.

Optionally, if the target vehicle needs to replace n target batteries, determining first rotation data of the turntable according to storage positions of the target batteries in the battery compartment, including: and determining n items of first rotation data of the turntable according to the storage position of each target battery in the battery compartment, wherein n is an integer greater than or equal to two.

Optionally, the determining n items of first rotation data of the turntable according to the storage position of each target battery in the battery compartment includes: determining a first rotating direction in first rotating data of the rotating disc according to the storage position of each target battery in the battery compartment; and determining the sequence of the first rotating direction for n times according to the taking sequence of the n target batteries.

Optionally, the determining first rotation data of the turntable according to the storage position of the target battery in the battery compartment includes: and determining first rotation data of the turntable according to the storage position of the target battery in the battery compartment and the parking direction of the target vehicle.

Optionally, the determining first rotation data of the turntable according to the storage position of the target battery in the battery compartment and the parking direction of the target vehicle includes: determining a first orientation of a battery connecting port of the target vehicle according to the parking direction of the target vehicle; determining a second orientation of a charging port of the target battery according to the storage position of the target battery; determining a relative offset angle between the target battery and a battery connecting port of the target vehicle according to the first orientation and the second orientation; and determining first rotation data of the turntable according to the relative deviation angle.

Optionally, before the controlling the turntable to rotate according to the first rotation data, the method further comprises: determining second rotation data of the turntable according to a target storage position of a battery to be replaced on the target vehicle in the battery compartment; after the first conveying tool finishes the disassembly of the battery to be replaced, controlling the turntable to rotate according to the second rotation data so as to drive the first conveying tool on the turntable to rotate; and controlling the first conveying tool to move according to the determined direction after the rotary disc rotates so as to convey the battery to be replaced into the battery bin.

Optionally, the determining second rotation data of the turntable according to the target storage location of the battery to be replaced on the target vehicle in the battery compartment includes: and determining a second rotating direction of the turntable according to the target storage position of the battery to be replaced on the target vehicle in the battery compartment and the parking direction of the target vehicle.

Optionally, the controlling the first conveying tool to move according to the determined direction after the rotation of the turntable so as to convey the battery to be replaced into the battery compartment includes: controlling the first conveying tool to place the battery to be replaced into a specified storage position; detecting the current orientation of a charging head of the battery to be replaced through a sensor on the appointed storage position; determining whether the current display direction of the pool to be discharged is qualified or not according to the current orientation and the target storage position; and if the current display direction of the battery to be placed is unqualified, performing exception handling on the battery to be replaced.

Optionally, the performing exception handling on the battery to be replaced includes: screening out alternative storage positions from the idle storage positions in the battery bin according to the current display direction of the battery to be placed; and controlling a second conveying tool to move the battery to be replaced from the specified storage position to the alternative storage position.

In a second aspect, an embodiment of the present application provides a battery replacement device, including: the first determining module is used for determining first rotating data of the rotating disc according to the storage position of the target battery in the battery compartment; the first control module is used for controlling the rotary disc to rotate according to the first rotation data after a first conveying tool loaded with the target battery runs onto the rotary disc; and the second control module is used for controlling the first conveying tool to move according to the determined direction after the rotary disc rotates so as to mount the target battery on the target vehicle.

In a third aspect, an embodiment of the present application provides a controller, including: a processor, a memory storing machine readable instructions executable by the processor, the machine readable instructions when executed by the processor performing the steps of the method as described above when the controller is run.

In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to perform the steps of the method described above.

In a fifth aspect, an embodiment of the present application provides a power swapping station, including: a conveying system and a battery compartment; the battery bin comprises a battery storage position, and the battery storage position is used for storing batteries; the conveying system comprises a conveying tool, a conveying track and the controller, wherein the controller is used for controlling the conveying tool to move on the conveying track; the conveying track comprises a turntable used for adjusting the movement direction of the conveying tool.

According to the battery replacement method, the battery replacement device, the controller and the battery replacement station, the direction of the turntable can be adjusted according to the position adaptability of the battery, the target battery can be driven to rotate through the rotation of the turntable, the installation requirements on the battery under different scenes can be met, and the accuracy of battery replacement can be improved. Furthermore, the rotation data of the turntable can be determined based on the storage position adaptability of the battery in the battery compartment, so that the batteries in the battery compartment are not required to be displayed according to a unified standard, and the flexibility of displaying the batteries in the battery compartment can be improved.

In order to make the aforementioned objects, features and advantages of the present application comprehensible, embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic operating environment diagram of a battery replacement method according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a swapping station provided in the embodiment of the present application;

fig. 3 is a schematic structural diagram of a battery compartment of a swapping station provided in the embodiment of the present application;

fig. 4 is a schematic structural diagram of a turntable of a swapping station provided in the embodiment of the present application;

fig. 5 is a flowchart of a battery replacement method according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a multi-row battery rack of a battery compartment of a battery swapping station according to an embodiment of the present application;

fig. 7 is a detailed flowchart of a battery replacement method according to an embodiment of the present application;

FIG. 8a is a schematic structural diagram of a vehicle according to an embodiment of the present application;

FIG. 8b is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure;

FIG. 9 is a partial flow chart of a battery replacement method according to an embodiment of the present disclosure;

fig. 10 is a schematic functional block diagram of a battery replacing device according to an embodiment of the present application.

Reference numerals: 100-power exchanging station; 110-a delivery system; 111-a transport means; 112-a conveying track; 120-a battery compartment; 121-battery storage location; 122-battery cache bit; 123-a first battery holder; 124-a second battery holder; 125-a third battery holder; 126-a fourth battery holder; 130-a control device; 140-parking space; 141-a turntable; 1411-a running track; 200-a server; 410-a first determination module; 420-a first control module; 430-second control module.

Detailed Description

The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

With the attention on environmental protection, the more environment-friendly new energy electric vehicle is developed more rapidly. However, the charging speed of the electric vehicle is slow, and if the electric vehicle is insufficient in the using process, the driver needs to wait for a long time, which undoubtedly affects the use experience of the driver.

Based on the current situation, a new technology is shown, the battery on the electric vehicle can be replaced by a fully charged battery, and the time required for replacing the battery is far shorter than the time required for fully charging the battery.

The inventor researches and understands that, because a conveying tool for transporting the battery cannot rotate the display direction of the battery after taking the battery, and the charging port of the battery can only be arranged at a specified position of the battery mounting position of the vehicle when the vehicle mounts the battery, the battery in the battery compartment can only be displayed according to the specified direction, so that the charging port of the battery can be oriented to a uniform direction to ensure that the battery taken out of the battery compartment can be correctly mounted in the vehicle.

However, as more and more electric vehicles are put into use later, the demand for batteries is increased, and the battery racks in the battery compartment are not suitable for being arranged in a row, which may result in the battery compartment occupying more space in the transverse direction, but requiring only a small amount of space in the other direction. Based on this, the present application provides a battery replacing method, when replacing the battery, the rotating direction of the turntable can be controlled according to the position of the acquired target battery, so as to adjust the display direction of the battery through the turntable, and determine that the battery taken out from the battery compartment can be correctly installed on the vehicle. The battery replacement method provided by the present application is described below by way of several embodiments.

To facilitate understanding of the present embodiment, an operating environment for performing a battery replacement method disclosed in the embodiments of the present application will be described first.

Fig. 1 is a schematic view of an operating environment of a battery replacement method according to an embodiment of the present disclosure. The operating environment of the battery replacement method may include the power conversion station 100 and the server 200. The server 200 is communicatively connected to one or more power conversion stations 100 through a network for data communication or interaction. The server may be a web server, a database server, or the like.

The server 200 may be configured to store data of historical battery replacement of the battery replacement station 100, and may also send data required for battery replacement to the battery replacement station 100.

The battery replacement station 100 is used for replacing batteries for electric vehicles.

As shown in fig. 2, the power swapping station 100 may include: transport system 110, battery compartment 120, control device 130, and parking space 140.

The battery compartment 120 and the parking space 140 may be arranged in parallel, the conveying system 110 may move the battery of the vehicle in the parking space 140 into the battery compartment 120, and the conveying system 110 may also mount the battery of the battery compartment 120 on the vehicle in the parking space 140.

The transport system 110 is used to transport batteries that have been removed from electric vehicles and may also be used to transport batteries that have been removed from the battery compartment 120.

Illustratively, the delivery system 110 may include: a transport 111 (see also fig. 3), a transport track 112 (see also fig. 4), and a controller (not shown).

The Controller may be a Programmable Logic Controller (PLC). A conveyor may travel on the conveyor track to move the batteries to be processed.

The transport means 111 may be controlled by the programmable logic controller described above, and the transport means moves according to the control instructions of the programmable logic controller. The programmable logic controller may control the transport based on data provided by the control device 130.

Illustratively, the transport 111 may comprise a rail guided vehicle, a palletizer, or the like.

The track guided vehicle can be used for disassembling a battery on a vehicle needing battery replacement or installing a full-power battery on the vehicle. The full charge battery may be a battery having a charge greater than a specified value. The specified value may be 90%, 93%, or 95% equivalent.

The stacker crane can be used for taking the batteries from the battery compartment or putting the batteries back into the battery compartment. Wherein, the hacking machine can also be used for moving the battery in the battery compartment.

The power exchanging station 100 can communicate with the server through the control device 130. The control device 130 may also establish a communication connection with the electric vehicle to be charged to obtain data transmitted by the electric vehicle to be charged.

In this embodiment, the controller may include a memory and a processor.

The various elements of the memory and processor described above are electrically coupled to each other, directly or indirectly, to enable data transfer or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor described above is used to execute executable modules stored in the memory.

The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory is used for storing a computer program, and the processor executes the program after receiving an execution instruction, and the method executed by the process-defined controller disclosed in any embodiment of the present application may be applied to or implemented by the processor.

The processor may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It will be understood by those of ordinary skill in the art that the above examples of the components included in the controller in the embodiments of the present application should not limit the structure of the controller. For example, the controller may also include more or fewer components, or a different configuration.

For example, the controller may further include a display unit that provides an interactive interface (e.g., a user interface) between the controller and a user or for displaying image data to a user reference. In this embodiment, the display unit may be a liquid crystal display or a touch display. In the case of a touch display, the display can be a capacitive touch screen or a resistive touch screen, which supports single-point and multi-point touch operations. Supporting single-point and multi-point touch operations means that the touch display can sense touch operations simultaneously generated from one or more positions on the touch display, and the sensed touch operations are sent to the processor for calculation and processing.

A plurality of battery storage locations 121 for storing batteries may be disposed in the battery compartment 120. An electric plug can be arranged in the battery storage position and can be used for charging the battery stored in the battery storage position.

A battery buffer 122 may also be disposed in the battery compartment 120, and is used for temporarily storing batteries. For example, one of the batteries may be temporarily placed in the battery buffer while the first conveyance exchanges batteries with the second conveyance. Alternatively, as shown in FIG. 3, the battery buffer 122 may be located at an entrance to the battery compartment 120 where the rail guided vehicle and the stacker may exchange the respective required batteries.

A turntable 141 may be disposed on the parking space 140 of the battery replacement station 100. As shown in fig. 4, the turntable 141 can have a track 1411 thereon, and the track guided vehicle can travel on the track 1411 on the turntable 141. The turntable 141 can rotate on the plane of the turntable 141. Wherein, when the turntable 141 is shown in the example of fig. 4, the running track on the turntable 141 can be connected with the track connected to the battery compartment. After the turntable 141 rotates a certain angle, the track 1411 of the turntable 141 also rotates a certain angle, and the rail guided vehicle can travel on the track of the turntable 141 along the direction of the track.

The controller in this embodiment may be configured to perform each step in each method provided in this embodiment. The following describes the implementation of the battery replacement method in detail by means of several embodiments.

The embodiment of the application provides a battery replacing method which can be applied to a controller of a power exchanging station or control equipment connected with the controller. Please refer to fig. 5, which is a flowchart illustrating a battery replacement method according to an embodiment of the present disclosure. The specific flow shown in fig. 5 will be described in detail below.

And 310, determining first rotation data of the turntable according to the storage position of the target battery in the battery compartment.

Illustratively, the first rotation data may include a first rotation direction of the dial.

Optionally, the initial orientation of the charging port of the target battery may be determined according to the storage position of the target battery, the target orientation of the charging port of the target battery required when the target battery is installed may be determined, and the first rotating direction of the turntable may be determined according to the initial orientation of the charging port of the target battery and the target orientation of the charging port of the target battery.

After the driving track of the conveying tool after the batteries are taken from the battery compartment is determined, the initial orientation of the charging port of the target battery can be determined according to the storage position of the target battery, the transfer orientation of the conveying tool when the target battery is conveyed to the rotary table from the battery compartment is determined, and the first rotating direction of the rotary table can be determined according to the angle between the transfer orientation and the target orientation.

For example, when the transfer direction of the transport tool for transporting the target battery from the battery compartment to the turntable is 90 ° clockwise from the target direction required for mounting the target battery, the first rotation direction of the turntable may be 90 ° clockwise. For another example, when the transfer direction of the transport tool for transporting the target battery from the battery compartment to the turntable forms an angle of 90 ° counterclockwise with the target direction required for mounting the target battery, the first rotation direction of the turntable may be 90 ° counterclockwise. For another example, when the transfer direction of the transport tool for transporting the target battery from the battery compartment to the turntable is 60 ° clockwise from the target direction required for mounting the target battery, the first rotation direction of the turntable may be 60 ° clockwise.

Taking the example shown in fig. 6 as an example, the battery compartment 120 may include four rows of battery racks, namely a first battery rack 123, a second battery rack 124, a third battery rack 125 and a fourth battery rack 126, wherein the turntable 141 is disposed at the left side of the battery compartment 120, and a travel rail is disposed between the turntable 141 and the battery compartment 120. Wherein the charging ports on the first and second battery racks 123, 124 are disposed on a first side Sa of the battery racks, and the charging ports on the third and fourth battery racks 125, 126 are disposed on a first side Sb of the battery racks. Accordingly, the charging ports of the batteries placed on the first and

second battery holders

123 and 124 are oriented in a first direction d1 shown in fig. 6, and the charging ports of the batteries placed on the third and

fourth battery holders

125 and 126 are oriented in a second direction d2 shown in fig. 6.

In one example, if the target vehicle is parked at the turntable, the body of the target vehicle may be perpendicular to the travel track between the turntable 141 and the battery compartment 120, the battery connection port of the target vehicle is provided at the rear end of the vehicle, and the transport means does not change the orientation of the battery when moving the battery of the battery compartment to the turntable. In this example, if the batteries on the first and

second battery racks

123 and 124 are moved by the conveying tool to the neutral orientation at the turntable or to the first direction d1, the first rotation direction of the turntable may be a counterclockwise rotation of 90 °. In this example, if the batteries on the third battery rack 125 and the fourth battery rack 126 are moved by the conveying tool to the neutral orientation at the turntable or to the second direction d2, the first rotation direction of the turntable may be 90 ° clockwise.

In another example, if the target vehicle is parked at the turntable, the body of the target vehicle may be perpendicular to the running rail between the turntable 141 and the battery compartment 120, the battery connection port in the battery mounting location of the target vehicle is provided at one end of the headstock, and the transport tool does not change the orientation of the battery when moving the battery of the battery compartment to the turntable. In this example, if the batteries on the first and

second battery racks

123 and 124 are moved by the conveying tool to the neutral orientation at the turntable or to the first direction d1, the first rotation direction of the turntable may be 90 ° clockwise. In this example, if the batteries on the third battery rack 125 and the fourth battery rack 126 are moved by the transport tool to the neutral orientation at the turntable or to the second direction d2, the first rotational direction of the turntable may be a counterclockwise rotation of 90 °.

In another example, if the target vehicle is parked at the turntable, the heading direction of the target vehicle is at an angle α to the running track between the turntable 141 and the battery compartment 120, the battery connection port in the battery mounting position of the target vehicle is disposed at the rear end of the vehicle, and the transport tool does not change the orientation of the battery when moving the battery of the battery compartment to the turntable. In this example, if the batteries on the first battery rack 123 and the second battery rack 124 are moved by the conveying tool to the neutral orientation at the turntable or to the first direction d1, the first rotation direction of the turntable may be a counterclockwise rotation α. In this example, if the batteries on the third battery rack 125 and the fourth battery rack 126 are moved by the transport tool to the neutral orientation at the turntable, which is also the second direction d2, then the first rotational direction of the turntable may be 180 ° - α clockwise.

It will be appreciated that the desired angle and direction of rotation of the dial may vary depending on the location of the targeted battery.

And 330, controlling the turntable to rotate according to the first rotation data after the first conveying tool loaded with the target battery runs onto the turntable.

For example, after the desired rotation angle of the turntable is determined, the turntable may be driven to rotate in the first rotation direction by controlling the driving mechanism of the turntable.

And 350, controlling the first conveying tool to move according to the determined direction after the turntable rotates so as to mount the target battery on the target vehicle.

After the turntable rotates in the first direction, the running track on the turntable can also rotate in the first direction along with the turntable. The first transport means can travel on the path of travel of the redirected carrousel.

For example, the first conveyance means may be controlled to travel on the travel track of the turntable after the direction is changed, according to the distance between the first conveyance means and the battery mounting location of the target vehicle.

The determining of the distance between the first transport tool and the battery installation position of the target vehicle may include: the position of the battery installation position on the target vehicle can be determined according to the basic parameters of the target vehicle; and determining the distance between the first conveying tool and the battery installation position of the target vehicle according to the parking position of the target vehicle and the position of the battery installation position on the target vehicle.

In this application embodiment, can be according to the direction of getting the position adaptability adjustment this carousel of battery, can adapt to the installation demand to the battery under the different scenes, also can improve the accurate nature of battery change. Furthermore, the first rotating direction of the rotating disc can be determined based on the storage position adaptability of the batteries in the battery compartment, so that the batteries in the battery compartment are not required to be displayed according to a unified standard, and the flexibility of displaying the batteries in the battery compartment can be improved.

In one case, the target vehicle may be equipped with a plurality of batteries, and therefore, the plurality of batteries may be replaced when the target vehicle is replaced with a battery. For example, if the target vehicle needs to replace n target batteries, step 310 may include: and determining n items of first rotation data of the turntable according to the storage position of each target battery in the battery compartment.

The first rotation data includes a first rotation direction of the turntable, where n is an integer greater than or equal to two.

Taking the ith target battery as an example, the first rotation data of the turntable corresponding to the ith target battery can be determined according to the ith storage position of the ith target battery in the battery compartment.

Each target battery can determine the first rotation data of one rotating disc, and then n first rotation data of the rotating disc can be determined. Each item of first rotation data may be used to control one rotation of the turntable.

For example, the taking sequence of the n target batteries can be determined according to the positions of the target batteries needing to be installed on the target vehicle. Taking two target batteries as an example, if one of the target batteries needs to be installed at a battery installation position of the target vehicle close to the vehicle head and the other target battery needs to be installed at a battery installation position of the target vehicle close to the vehicle tail, the target battery taking sequence of the battery installation positions of the target vehicle close to the vehicle head can be determined as a first sequence, and the target battery taking sequence of the battery installation positions of the target vehicle close to the vehicle tail can be determined as a second sequence.

For example, the fetching sequence of the n target batteries can be determined according to the initial positions of the target batteries and the second conveying tool for fetching the batteries of the battery compartment. Taking two target batteries as an example, if one of the target batteries is closer to the initial position of the second conveyance tool and the other target battery is farther from the initial position of the second conveyance tool, the picking order of the target batteries closer to the initial position of the second conveyance tool may be determined as the first order, and the picking order of the target batteries farther from the initial position of the second conveyance tool may be determined as the second order.

In this embodiment, after the n items of first rotation data are determined, the rotation of the turntable may be controlled according to the n items of first rotation data.

For example, when the first transport tool transports the target battery onto the turntable i times, the turntable may be controlled to rotate according to a first rotation direction ordered in an i-th order.

The first rotating data of the rotating disc required by the target batteries are determined firstly, and then the rotating disc is sequentially controlled to rotate according to the first rotating data, so that each target battery is rotated to a required direction, and each target battery can be more accurately installed on a target vehicle.

In some cases, the different entering directions of the vehicles into the parking spaces of the power exchanging station may cause different positions of the battery connection ports in the battery mounting positions of the target vehicles. Based on this study, step 310 may include: and determining first rotation data of the turntable according to the storage position of the target battery in the battery compartment and the parking direction of the target vehicle.

Exemplarily, the orientation of a battery connecting port of the target vehicle can be determined according to the parking direction of the target vehicle, and the target orientation required when the target battery is installed can be determined according to the orientation of the battery connecting port; and further determining first rotation data of the turntable according to the storage position of the target battery in the battery compartment and the target orientation required by the target battery during installation.

Taking the example shown in fig. 6 as an example, if the target vehicle enters the parking space from the entrance above the figure, the included angle between the vehicle head direction and the running track between the turntable and the battery compartment is 90 ° clockwise. If the battery connecting port of the target vehicle is arranged at one end close to the tail of the vehicle, and the conveying tool does not change the orientation of the battery when the battery of the battery compartment is moved to the turntable. In this example, if the batteries on the first and

second battery racks

Taking the example shown in fig. 6 as an example, if the target vehicle enters the parking space from the lower entrance of the figure, the included angle between the direction of the vehicle head and the running track between the turntable and the battery compartment is a direction of 90 degrees counterclockwise. If the battery connecting port of the target vehicle is arranged at one end close to the tail of the vehicle, and the conveying tool does not change the orientation of the battery when the battery of the battery compartment is moved to the turntable. In this example, if the batteries on the first and

second battery racks

Through the steps, when the parking space of the battery replacing station is provided with the plurality of entrances, the parking direction of the vehicle can be determined based on the driving direction of the vehicle, and the orientation of the battery connecting port on the vehicle can be determined based on the parking direction, so that the driving direction of the vehicle can not be limited by the battery replacing station, and the flexibility of the battery replacing station can be improved. Furthermore, the direction required by the battery can be more accurately determined by combining the parking direction of the vehicle, and the accuracy of battery replacement can be improved.

In an alternative embodiment, as shown in fig. 7, step 310 may include: step 311 to step 314.

Step 311, determining a first orientation of a battery connection port of the target vehicle according to the parking direction of the target vehicle.

The parking direction may include: the head or the tail of the vehicle. The relative included angles between the vehicle head and each running track in the power change station and the like.

The orientation of the battery connection port may be represented by: the opposite side of the battery connection port in the battery mounting position on the vehicle is directed in the direction of the side where the battery connection port is located.

As shown in fig. 8a, taking the battery mounting position on the target vehicle as a rectangle as an example, and the battery connecting port is disposed on a side of the battery mounting position close to the vehicle head, the first orientation of the battery connecting port of the target vehicle is the direction indicated by the third direction d 3. As shown in fig. 8b, taking the battery mounting position on the target vehicle as a rectangle as an example, and the battery connection port is provided on the side closer to the rear of the vehicle in the battery mounting position, the first orientation of the battery connection port of the target vehicle is the direction indicated by the fourth direction d 4.

Optionally, a collection device may be disposed at an entrance of the parking space, and image data of the target vehicle before entering the parking space may be collected by the collection device, and then identified according to the image data, and the entering direction of the target vehicle is determined according to the entering direction.

Optionally, the collection device can be arranged inside the parking space, the image data of the target vehicle running in the parking space can be collected through the collection device, then the image data of the target vehicle in the parking space is identified, and the parking direction of the target vehicle is determined according to the head position and the tail position of the target vehicle and the head position and the tail position of the vehicle.

Optionally, a plurality of gravity sensors may be disposed inside the parking space, and the parking direction of the target vehicle is determined according to the sequence of the gravity sensors detecting the gravity.

The positions of the battery connecting ports of different vehicle types are possibly different, the position of the battery connecting port of the target vehicle on the target vehicle can be determined according to the basic parameters of the target vehicle, and then the first orientation of the battery connecting port of the target vehicle is determined according to the position of the battery connecting port on the target vehicle and the parking direction of the target vehicle.

Optionally, basic parameters of each model of vehicle may be stored in the battery swapping station in advance. Optionally, the power swapping station may not store the basic parameters of all models, and a server in communication connection with the power swapping station stores the basic parameters of all models. When the basic parameters of the target vehicle need to be used, the basic parameters can be obtained from the server.

In step 312, a second orientation of the charging port of the target battery is determined according to the storage position of the target battery.

Alternatively, the charging port in each storage position in the battery compartment may be uniquely determined, and the orientation of the charging port in each storage position in the battery compartment may be stored in advance. The second orientation of the charging port of the target battery may be determined from pre-stored data.

Alternatively, a sensor for detecting the orientation of the charging port of the target battery on the second conveyance means may be provided on the second conveyance means that takes the target battery.

Taking the example shown in fig. 6 as an example, if the storage position of the target battery is on the first battery rack 123 or the second battery rack 124, the second orientation of the target battery is the first direction d1. If the storage position of the target battery is in the third battery rack 125 or the fourth battery rack 126, the second orientation of the target battery is the second direction d2.

Step 313, determining a relative offset angle between the target battery and the battery connecting port of the target vehicle according to the first orientation and the second orientation.

Illustratively, the relative offset angle may be an angle between the first orientation and the second orientation.

And step 314, determining first rotation data of the turntable according to the relative offset angle.

For example, the first rotation data may include a first rotation direction required to be rotated by a first orientation of the charging port of the target battery toward the battery connection port of the target vehicle.

The orientation of the battery connecting port of the target vehicle and the orientation of the charging port of the target battery are used for determining the first rotation data required by the turntable, so that the orientation of the charging port of the rotated target battery can better accord with the orientation of the charging port of the target vehicle, and the battery can be installed more accurately.

In order to enable the battery to be replaced which is detached from the target vehicle to be accurately connected with the charging port in the storage position in the battery compartment, the orientation of the first conveying tool can be adjusted through the rotary table before the battery to be replaced is moved into the battery compartment, so that the orientation of the battery to be replaced can be adjusted. Therefore, before the target battery is mounted on the target vehicle, the battery to be replaced on the target vehicle can be detached and moved into the battery compartment. Based on this, before step 330, as shown in fig. 9, the battery replacing method may further include: step 321 to step 323.

Step 321, determining second rotation data of the turntable according to a target storage position of a battery to be replaced on the target vehicle in the battery compartment.

Illustratively, the second rotation data may include a second rotation direction of the dial.

Alternatively, the initial orientation of the charging port of the battery may be based on the initial orientation of the battery when the battery to be replaced is removed from the target vehicle; determining the target orientation of a charging port of the battery to be replaced according to the target storage position of the battery to be replaced in the battery bin; and determining a second rotating direction of the turntable according to the initial orientation of the battery to be replaced and the target orientation of the charging port of the battery to be replaced.

Taking the example shown in fig. 6 as an example, the initial orientation of the charging port of the battery to be replaced may be one direction perpendicular to the first direction d1 and the second direction d2, and the second rotation direction of the turntable may be 90 ° clockwise or 90 ° counterclockwise.

In one example, the initial orientation of the charging port of the battery to be replaced may be a direction perpendicular to the first direction d1 and the second direction d2, the initial orientation of the charging port of the battery to be replaced is a direction of 90 ° counterclockwise from the first direction d1, and the target storage position of the battery to be replaced is a storage position on the first battery holder 123 or the second battery holder 124, and the second rotation direction of the turntable may be 90 ° clockwise.

In one example, the initial orientation of the charging port of the battery to be replaced may be a direction perpendicular to the first direction d1 and the second direction d2, the initial orientation of the charging port of the battery to be replaced is a direction of 90 ° clockwise from the first direction d1, and the target storage position of the battery to be replaced is a storage position on the third battery holder 125 or the fourth battery holder 126, and the second rotation direction of the turntable may be 90 ° clockwise.

It can be understood that the required rotation angle of the turntable can be different according to the target storage position required for storing the battery to be replaced.

In step 322, after the first transportation tool finishes disassembling the battery to be replaced, the turntable is controlled to rotate according to the second rotation data.

The first conveying tool positioned on the turntable can be driven to rotate by controlling the turntable to rotate according to the second rotating data.

The first transportation tool may be controlled to detach the battery to be replaced from the target vehicle before step 322.

Alternatively, the step of detaching the battery may be performed before step 321, that is, the first transportation tool is controlled to detach the battery to be replaced from the target vehicle, and then the second rotation direction of the turntable is determined.

Alternatively, the step of detaching the battery may be performed after step 321, and the actions of each of the conveyors and the turntable may be predetermined before controlling each of the conveyors to perform the battery replacement of the target vehicle.

Optionally, after the first transportation tool finishes disassembling the battery to be replaced of the target vehicle, the turntable may be controlled to rotate according to the second rotation data.

Optionally, after the first transportation tool finishes disassembling the battery to be replaced of the target vehicle and moves to the designated position of the turntable, the turntable is controlled to rotate according to the second rotation data.

In this embodiment, after the turntable rotates according to the second rotation data, the running track on the turntable is communicated with the running track between the turntable and the battery compartment.

Step 323, controlling the first conveying tool to move according to the determined direction after the turntable rotates, so as to convey the battery to be replaced into the battery compartment.

In this embodiment, if a plurality of batteries need to be replaced on the target vehicle, before each target battery is mounted on the target vehicle, the batteries on the target vehicle need to be detached through the flow from step 321 to step 323 and transported back to the battery compartment.

Through the steps, the rotation of the turntable is properly controlled, and the disassembled charging port of the battery to be replaced can be matched with the storage position in the battery bin, so that the storage effectiveness of the battery can be improved.

In an alternative embodiment, step 321 may include: and determining a second rotating direction of the turntable according to the target storage position of the battery to be replaced on the target vehicle in the battery compartment and the parking direction of the target vehicle.

Exemplarily, the direction of a battery connecting port of the target vehicle can be determined according to the parking direction of the target vehicle, and the initial direction of a charging port of a detached battery to be replaced can be determined according to the direction of the battery connecting port; and further determining second rotation data of the turntable according to the target storage position of the battery to be replaced in the battery compartment and the initial orientation of the charging port of the battery to be replaced.

The manner of determining the parking direction of the target vehicle may be the same as the manner of determining the parking direction of the target vehicle in step 311, and other details regarding the determination of the parking direction of the target vehicle here may refer to the description in step 311, and will not be described herein again.

Through the definite basis that also regards the direction of berthing with the target vehicle as the rotation data of carousel, can realize even when trading the parking stall of power station and have a plurality of entrances, can confirm the orientation of the battery connector on the vehicle based on the direction of berthing to can trade the entering direction that the battery no longer restricts the vehicle, can improve the flexibility of trading the battery. Furthermore, the direction required by the battery to be replaced can be more accurately determined by combining the parking direction of the vehicle, and the accuracy of battery storage can be improved.

In an alternative embodiment, step 324 may include: step 3241 to step 3244.

Step 3241, the first transportation tool is controlled to place the battery to be replaced in a designated storage position.

The designated storage bit may be a cache bit set in the battery compartment. The cache bit may have a sensor disposed thereon, which may be used to detect the location of a charging port of a battery on the cache bit.

At step 3242, the current orientation of the charging head of the battery to be replaced is detected by the sensor at the designated storage location.

Step 3243, determining whether the current display direction of the cell is qualified according to the current orientation and the target storage position.

If the current display direction of the battery to be placed is not qualified, go to step 3244.

For example, the required orientation of the battery if placed in the target storage location may be determined according to the target storage location. And determining whether the current display direction of the cell to be discharged is qualified or not by determining the demand orientation and the current orientation.

If the orientation of the battery to be replaced can be the same as the required orientation after the battery to be replaced is moved to the target storage position in the current orientation, the current display direction of the battery to be placed is qualified.

Step 3244, perform exception handling on the battery to be replaced.

Alternatively, the exception handling may be the output of an alarm signal by an alarm. And informing related personnel to process through the alarm signal. The alarm may be a light signal alarm, an audible alarm, or an audible and visual alarm.

Optionally, the exception handling may also include: screening out alternative storage positions from the idle storage positions in the battery compartment according to the current display direction of the battery to be placed; and controlling a second conveying tool to move the battery to be replaced from the specified storage position to the alternative storage position.

In this embodiment, the electrical plug of the alternative storage location and the electrical plug of the target storage location are oriented in different directions. Taking the battery compartment shown in fig. 6 as an example, when the target storage position is a storage position of the first battery rack 123 or the second battery rack 124, the alternative storage position may be a storage position on the third battery rack 125 or the fourth battery rack 126.

The idle storage positions are screened out again to place the batteries to be replaced, so that the storage positions of the batteries to be replaced can better meet the charging requirements of the batteries to be replaced, the condition that the batteries are possibly damaged because the batteries to be replaced are stored in wrong storage positions can be reduced, and the safety of the batteries is improved.

The flow of the battery replacement method is described below by way of an example:

firstly, the initial position of a target battery of a target vehicle in the battery compartment can be changed as required, the current direction of a charging port of the target battery is determined, and the rotating direction of an adjusting turntable is determined, wherein the rotating direction of the turntable can be used for adjusting the direction of the charging port of the target battery to be consistent with the direction of a battery connecting port of a battery mounting position on the target vehicle;

secondly, the stacker crane can take the target battery from the initial position of the battery compartment, the stacker crane transports the target battery to a transfer position, the target battery is transferred to a rail guided vehicle, and the rail guided vehicle moves the target battery to a turntable;

after the rail guided vehicle is positioned on the track on the turntable, the turntable can rotate according to a predetermined rotation direction;

the guided rail guidance vehicle can run along the current direction of the track of the turntable so as to move to a target position for replacing the battery of the target vehicle, wherein when the guided rail guidance vehicle moves to the target position, the charging port of the target battery and the battery connecting port of the battery mounting position on the target vehicle are in the same direction;

after the rail guided vehicle moves to the target position, the target battery is installed in the target vehicle, and the charging port of the target battery can be connected with the battery connecting port of the battery installation position of the target vehicle.

Through the process, even if the orientation of the charging port of the target battery is different and the storage position of the target battery is different, the orientation of the charging port of the target battery can be adjusted through the control of the steering of the turntable, so that the battery installation requirement of the target vehicle can be met.

Based on the same application concept, a battery replacing device corresponding to the battery replacing method is further provided in the embodiment of the present application, and as the principle of solving the problem of the device in the embodiment of the present application is similar to that in the embodiment of the battery replacing method, the implementation of the device in the embodiment of the present application can refer to the description in the embodiment of the method, and repeated details are not repeated.

Please refer to fig. 10, which is a schematic diagram of functional modules of a battery replacing apparatus according to an embodiment of the present application. Each module in the battery replacement device in this embodiment is configured to perform each step in the above-described method embodiment. The battery replacement device includes: a first determination module 410, a first control module 420, and a second control module 430; the contents of each module are as follows:

the first determining module 410 is configured to determine first rotation data of the turntable according to a storage position of the target battery in the battery compartment;

a first control module 420 for controlling the turntable to rotate according to the first rotation data after the first transport tool loaded with the target battery is driven onto the turntable;

and a second control module 430 for controlling the first transportation tool to move according to the determined direction after the turntable is rotated, so as to mount the target battery on the target vehicle.

In a possible embodiment, if the target vehicle needs to replace n target batteries, the first determining module 410 is configured to determine n first rotation data of the turntable according to a storage location of each target battery in the battery compartment, where n is an integer greater than or equal to two.

In a possible embodiment, the first determining module 410 is configured to determine a first rotation direction in the first rotation data of the turntable according to a storage location of each target battery in the battery compartment; and determining the sequence of the first rotating direction for n times according to the taking sequence of the n target batteries.

In one possible embodiment, the first determining module 410 is configured to determine the first rotation data of the turntable according to the storage location of the target battery in the battery compartment and the parking direction of the target vehicle.

In a possible implementation manner, the first determining module 410 is further configured to determine a first orientation of the battery connection port of the target vehicle according to a parking direction of the target vehicle; determining a second orientation of a charging port of the target battery according to the storage position of the target battery; determining a relative offset angle of the target battery and a battery connecting port of the target vehicle according to the first orientation and the second orientation; and determining first rotation data of the turntable according to the relative offset angle.

In a possible implementation manner, the battery replacing device in this embodiment may further include:

the second determining module is used for determining second rotation data of the turntable according to a target storage position of a battery to be replaced on the target vehicle in the battery compartment;

the third control module is used for controlling the turntable to rotate according to the second rotation data after the first conveying tool finishes the disassembly of the battery to be replaced so as to drive the first conveying tool on the turntable to rotate;

and the fourth control module is used for controlling the first conveying tool to move according to the determined direction after the rotary disc rotates so as to convey the battery to be replaced into the battery bin.

In one possible embodiment, the second determining module is configured to determine the second rotating direction of the turntable according to a target storage location of the battery to be replaced on the target vehicle in the battery compartment and a parking direction of the target vehicle.

In one possible embodiment, the fifth control module includes: the device comprises a control unit, a detection unit, a determination unit and a processing unit, wherein the content of each unit is as follows:

the control unit is used for controlling the first conveying tool to place the battery to be replaced into a specified storage position;

the detection unit is used for detecting the current orientation of the charging head of the battery to be replaced through the sensor on the appointed storage position;

the determining unit is used for determining whether the current display direction of the to-be-discharged pool is qualified or not according to the current orientation and the target storage position;

and the processing unit is used for performing exception handling on the battery to be replaced if the current display direction of the battery to be placed is unqualified.

In a possible embodiment, the processing unit is configured to screen out, according to a current display direction of the battery to be placed, an alternative storage location from the idle storage locations in the battery compartment; and controlling a second conveying tool to move the battery to be replaced from the specified storage position to the alternative storage position.

In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the battery replacement method described in the above method embodiment.

The computer program product of the battery replacing method provided in the embodiment of the present application includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the steps of the battery replacing method described in the above method embodiment, which may be specifically referred to in the above method embodiment, and are not described herein again.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A battery replacement method, comprising:

determining first rotation data of the turntable according to the storage position of the target battery in the battery compartment;

after a first conveying tool loaded with the target battery runs onto the rotary table, controlling the rotary table to rotate according to the first rotation data;

and controlling the first conveying tool to move according to the determined direction after the rotary disc rotates so as to mount the target battery on the target vehicle.

2. The method of claim 1, wherein if the target vehicle needs to replace n target batteries, determining the first rotation data of the turntable according to the storage positions of the target batteries in the battery compartment comprises:

and determining n items of first rotation data of the turntable according to the storage position of each target battery in the battery compartment, wherein n is an integer greater than or equal to two.

3. The method of claim 2, wherein the determining n first rotation data of the turntable according to the storage position of each target battery in the battery compartment comprises:

determining a first rotating direction in first rotating data of the rotating disc according to the storage position of each target battery in the battery compartment; and the number of the first and second groups,

and determining the sequence of the first rotating direction for n times according to the taking sequence of the n target batteries.

4. The method of claim 1, wherein determining first rotation data of the turntable according to the storage position of the target battery in the battery compartment comprises:

and determining first rotation data of the turntable according to the storage position of the target battery in the battery compartment and the parking direction of the target vehicle.

5. The method of claim 4, wherein determining the first rotation data of the turntable according to the storage position of the target battery in the battery compartment and the parking direction of the target vehicle comprises:

determining a first orientation of a battery connecting port of the target vehicle according to the parking direction of the target vehicle;

determining a second orientation of a charging port of the target battery according to the storage position of the target battery;

determining a relative offset angle between the target battery and a battery connecting port of the target vehicle according to the first orientation and the second orientation;

and determining first rotation data of the turntable according to the relative offset angle.

6. The method according to any of claims 1-5, wherein before said controlling said turntable to rotate according to said first rotation data, said method further comprises:

determining second rotation data of the turntable according to a target storage position of a battery to be replaced on the target vehicle in the battery compartment;

after the first conveying tool finishes the disassembly of the battery to be replaced, controlling the turntable to rotate according to the second rotation data so as to drive the first conveying tool on the turntable to rotate;

and controlling the first conveying tool to move according to the determined direction after the rotary disc rotates so as to convey the battery to be replaced into the battery bin.

7. The method of claim 6, wherein the determining second rotation data of the turntable according to the target storage position of the battery to be replaced on the target vehicle in the battery compartment comprises:

and determining a second rotating direction of the turntable according to the target storage position of the battery to be replaced on the target vehicle in the battery compartment and the parking direction of the target vehicle.

8. The method of claim 6, wherein said controlling the first transport tool to move according to the determined direction after the turntable rotates to transport the battery to be replaced into the battery compartment comprises:

controlling the first conveying tool to place the battery to be replaced in a specified storage position;

detecting the current orientation of a charging head of the battery to be replaced through a sensor on the appointed storage position;

determining whether the current display direction of the to-be-discharged pool is qualified or not according to the current orientation and the target storage position;

and if the current display direction of the battery to be placed is unqualified, performing exception handling on the battery to be replaced.

9. The method according to claim 8, wherein the exception handling of the battery to be replaced comprises:

screening out alternative storage positions from idle storage positions in the battery bin according to the current display direction of the battery to be placed;

and controlling a second conveying tool to move the battery to be replaced from the specified storage position to the alternative storage position.

10. A battery changing apparatus, comprising:

the first determining module is used for determining first rotating data of the rotating disc according to the storage position of the target battery in the battery compartment;

the first control module is used for controlling the turntable to rotate according to the first rotating data after a first conveying tool loaded with the target battery runs onto the turntable;

and the second control module is used for controlling the first conveying tool to move according to the determined direction after the rotary disc rotates so as to install the target battery on the target vehicle.

11. A controller, comprising: a processor, a memory storing machine readable instructions executable by the processor, the machine readable instructions when executed by the processor performing the steps of the method of any one of claims 1 to 9 when the controller is run.

12. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, performs the steps of the method according to any one of claims 1 to 9.

13. A power swapping station, comprising: a conveying system and a battery compartment;

the battery bin comprises a battery storage position, and the battery storage position is used for storing batteries;

the transport system comprising a transport, a transport track, and the controller of claim 11 for controlling movement of the transport on the transport track;

the conveying track comprises a turntable used for adjusting the movement direction of the conveying tool.